JSBSim updates. This update changes the file format, so an update of the base

[flightgear.git] / src / FDM / JSBSim / FGInertial.cpp

diff --git a/src/FDM/JSBSim/FGInertial.cpp b/src/FDM/JSBSim/FGInertial.cpp
index 0a52d5af4a53223826373d9c3b14825567d1d115..091f6647d671ca5a8f505c314d56982557dbed7d 100644 (file)
--- a/src/FDM/JSBSim/FGInertial.cpp
+++ b/src/FDM/JSBSim/FGInertial.cpp
@@ -47,52 +47,44 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 
-FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex),
-    vForces(3),
-    vOmegaLocal(3),
-    vRadius(3),
-    vGravity(3)
+FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex)
 {
   Name = "FGInertial";
 
-  vRadius.InitMatrix();
-  
   // Defaults
   RotationRate    = 0.00007272205217;
   GM              = 14.06252720E15;
   RadiusReference = 20925650.00;
   gAccelReference = GM/(RadiusReference*RadiusReference);
   gAccel          = GM/(RadiusReference*RadiusReference);
+  vRadius.InitMatrix();
+  vCoriolis.InitMatrix();
+  vCentrifugal.InitMatrix();
+  vGravity.InitMatrix();
+    
+  bind();
 
-  if (debug_lvl & 2) cout << "Instantiated: FGInertial" << endl;
+  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGInertial::~FGInertial(void)
 {
-  if (debug_lvl & 2) cout << "Destroyed:    FGInertial" << endl;
+  unbind();
+  Debug(1);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 bool FGInertial::Run(void)
 {
-  float stht, ctht, sphi, cphi;
-
   if (!FGModel::Run()) {
 
     gAccel = GM / (Position->GetRadius()*Position->GetRadius());
 
-    stht = sin(Rotation->GetEuler(eTht));
-    ctht = cos(Rotation->GetEuler(eTht));
-    sphi = sin(Rotation->GetEuler(ePhi));
-    cphi = cos(Rotation->GetEuler(ePhi));
+    vGravity(eDown) = gAccel;
 
-    vGravity(eX) = vForces(eX) = -gravity()*stht;
-    vGravity(eY) = vForces(eY) =  gravity()*sphi*ctht;
-    vGravity(eZ) = vForces(eZ) =  gravity()*cphi*ctht;
-    
     // The following equation for vOmegaLocal terms shows the angular velocity
     // calculation _for_the_local_frame_ given the earth's rotation (first set)
     // at the current latitude, and also the component due to the aircraft
@@ -106,12 +98,17 @@ bool FGInertial::Run(void)
     vOmegaLocal(eY) += -Position->GetVn() / Position->GetRadius();
     vOmegaLocal(eZ) +=  0.00;
 
-//    vForces = State->GetTl2b()*(-2.0*vOmegaLocal * Position->GetVel());
+    // Coriolis acceleration is normally written: -2w*dr/dt, but due to the axis
+    // conventions used here the sign is reversed: 2w*dr/dt. The same is true for
+    // Centrifugal acceleration.
+
+    vCoriolis(eEast) = 2.0*omega() * (Position->GetVd()*cos(Position->GetLatitude()) +
+                                      Position->GetVn()*sin(Position->GetLatitude()));
 
-    vRadius(3) = Position->GetRadius();
-    vForces += State->GetTl2b()*(vOmegaLocal * (vOmegaLocal * vRadius));
+    vRadius(eDown) = Position->GetRadius();
+    vCentrifugal(eDown) = -vOmegaLocal.Magnitude() * vOmegaLocal.Magnitude() * vRadius(eDown);
 
-    vForces *= MassBalance->GetMass(); // IMPORTANT !!!!!!!!!!!!!!!!!!!!!!!!!!!!
+    vForces = State->GetTl2b() * MassBalance->GetMass() * (vCoriolis + vCentrifugal + vGravity);
     
     return false;
   } else {
@@ -128,8 +125,69 @@ bool FGInertial::LoadInertial(FGConfigFile* AC_cfg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGInertial::Debug(void)
+void FGInertial::bind(void)
 {
-    //TODO: Add your source code here
+  typedef double (FGInertial::*PMF)(int) const;
+  PropertyManager->Tie("forces/fbx-inertial-lbs", this,1,
+                       (PMF)&FGInertial::GetForces);
+  PropertyManager->Tie("forces/fby-inertial-lbs", this,2,
+                       (PMF)&FGInertial::GetForces);
+  PropertyManager->Tie("forces/fbz-inertial-lbs", this,3,
+                       (PMF)&FGInertial::GetForces);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGInertial::unbind(void)
+{
+  PropertyManager->Untie("forces/fbx-inertial-lbs");
+  PropertyManager->Untie("forces/fby-inertial-lbs");
+  PropertyManager->Untie("forces/fbz-inertial-lbs");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGInertial::Debug(int from)
+{
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGInertial" << endl;
+    if (from == 1) cout << "Destroyed:    FGInertial" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
 }